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高速多体船体反倾斜控制基于起重速度和倾斜角速度估计

W Li¹, J Zhang², W Xu²

¹College of Information and Electrical Engineering, Hangzhou City University, Hangzhou, Zhejiang, 310015, China.

ISA transactions

|January 10, 2024

概括

这项研究介绍了一种先进的反控制算法,用于高速多体船. 这种新的方法通过准确估计和补偿无法测量的运动状态来提高稳定性,从而提高船舶的性能.

科学领域:

海军建筑和海洋工程
控制系统工程控制系统工程
海洋工程海洋工程

背景情况:

高速多体船体面临着摆动运动的挑战,影响稳定性和性能.
在现实应用中,直接测量升空和俯冲速度往往是不可行的.
现有的控制策略可能无法充分解决模型不确定性和复杂的运动合.

研究的目的:

为高速多体船开发一种新的反控制算法.
为了应对无法测量的升空和俯冲角速度的挑战.
为了提高控制系统的稳定性和减少控制系统的计算负载.

主要方法:

开发了一种多船体垂直控制模型,其中包含了防附加件.
设计一种基于动力学的卡尔曼波器,用于在线估计无法测量的状态.
实现一个代数模型预测控制 (AMPC) 策略,使用可变的回退视界优化.
使用二次过器数据进行不确定性估计和前补偿的干扰观察器的设计.

主要成果:

基于动力学的卡尔曼波器有效地估计了无法测量的升空和俯冲角速度.
拟议的AMPC战略显著减少了在线计算需求.
干扰观察员通过补偿一次性不确定性来提高系统的稳定性.
数学分析证实了干扰观察者和闭环系统的融合.

结论:

这种新的反倾斜控制算法为高速多体船体提供了强大且计算效率高的解决方案.
状态估计和预测控制的综合方法有效地管理复杂的动态和不确定性.
在理论和模拟方面展示的优势凸显了这种方法在实际应用中的潜力.

关键词:

代数模型预测控制的代数模型.干扰观察者是干扰的观察者.高速的多体船体.卡尔曼过器可以过.降低了音量,减少了音量.

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